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            <small>
              <a href="#Procedure">Procedure<br></a>
              <a href="#Abstract">Abstract<br></a>
              <a href="#Required_Reading">Required_Reading<br></a>
              <a href="#Keywords">Keywords<br></a>
              <a href="#Brief_I/O">Brief_I/O<br></a>
              <a href="#Detailed_Input">Detailed_Input<br></a>

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              <small>               <a href="#Detailed_Output">Detailed_Output<br></a>
              <a href="#Parameters">Parameters<br></a>
              <a href="#Exceptions">Exceptions<br></a>
              <a href="#Files">Files<br></a>
              <a href="#Particulars">Particulars<br></a>
              <a href="#Examples">Examples<br></a>

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              <small>               <a href="#Restrictions">Restrictions<br></a>
              <a href="#Literature_References">Literature_References<br></a>
              <a href="#Author_and_Institution">Author_and_Institution<br></a>
              <a href="#Version">Version<br></a>
              <a href="#Index_Entries">Index_Entries<br></a>
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<h4><a name="Procedure">Procedure</a></h4>
<PRE>
   void rotmat_c ( ConstSpiceDouble   m1[3][3], 
                   SpiceDouble        angle, 
                   SpiceInt           iaxis, 
                   SpiceDouble        mout[3][3] ) 

</PRE>
<h4><a name="Abstract">Abstract</a></h4>
<PRE>
 
   <b>rotmat_c</b> applies a rotation of angle radians about axis iaxis to a 
   matrix.  This rotation is thought of as rotating the coordinate 
   system. 
 </PRE>
<h4><a name="Required_Reading">Required_Reading</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Keywords">Keywords</a></h4>
<PRE>
 
   MATRIX,  ROTATION 
 

</PRE>
<h4><a name="Brief_I/O">Brief_I/O</a></h4>
<PRE>
 
   VARIABLE  I/O  DESCRIPTION 
   --------  ---  -------------------------------------------------- 
   m1        I     Matrix to be rotated. 
   angle     I     Angle of rotation (radians). 
   iaxis     I     Axis of rotation (X=1, Y=2, Z=3). 
   mout      O     Resulting rotated matrix.
      </PRE>
<h4><a name="Detailed_Input">Detailed_Input</a></h4>
<PRE>
 
   m1      This is a matrix to which a rotation is to be applied. 
           In matrix algebra, the components of the matrix are 
           relative to one particular coordinate system. Applying 
           <b>rotmat_c</b> changes the components of m1 so that they are 
           relative to a rotated coordinate system. 

   angle   The angle in radians through which the original 
           coordinate system is to be rotated. 

   iaxis   An index for the axis of the original coordinate system 
           about which the rotation by angle is to be performed. 
           iaxis = 1,2 or 3 designates the x-, y- or z-axis, 
           respectively. 
</PRE>
<h4><a name="Detailed_Output">Detailed_Output</a></h4>
<PRE>
 
   mout    The matrix resulting from the application of the 
           specified rotation to the input matrix m1.  If 
           
              [angle]         
                    iaxis 
                    
           denotes the rotation matrix by angle radians about iaxis,
           (see the Rotations Required Reading document) then mout is 
           given by the following matrix equation: 

              mout = [angle]      * m1 
                            iaxis 
                            
           mout can overwrite m1. 
 </PRE>
<h4><a name="Parameters">Parameters</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Exceptions">Exceptions</a></h4>
<PRE>
 
   Error free. 
 
   1) If the axis index is not in the range 1 to 3 it will be 
      treated the same as that integer 1, 2, or 3 that is congruent 
      to it mod 3. 
 </PRE>
<h4><a name="Files">Files</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Particulars">Particulars</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Examples">Examples</a></h4>
<PRE>
 
   Suppose that to rotate the a set of inertial axes to body fixed 
   axes, one must first roll the coordinate axes about the x-axis by 
   angle r to get x', y', z'.  From this one must pitch about the 
   y' axis by angle o to get x'', y'', z''.  And finally yaw the 
   x'', y'', z'' about the z'' axis by angle y to obtain the 
   transformation to bodyfixed coordinates.  If id is the identity 
   matrix, then the following code fragment generates the 
   transformation from interitial to body fixed. 

      <b>rotmat_c</b> ( id, r, 1, m1   ); 
      <b>rotmat_c</b> ( m1, p, 2, m2   ); 
      <b>rotmat_c</b> ( m2, y, 3, tibf ); 
 </PRE>
<h4><a name="Restrictions">Restrictions</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Literature_References">Literature_References</a></h4>
<PRE>
 
   None. 
 </PRE>
<h4><a name="Author_and_Institution">Author_and_Institution</a></h4>
<PRE>
 
   N.J. Bachman    (JPL)
   W.M. Owen       (JPL) 
   W.L. Taber      (JPL) 
 </PRE>
<h4><a name="Version">Version</a></h4>
<PRE>
   
   -CSPICE Version 1.1.0, 22-OCT-1998 (NJB)

      Made input matrix const.

   -CSPICE Version 1.0.0, 08-FEB-1998 (NJB)
 
      Based on SPICELIB Version 1.0.1, 10-MAR-1992 (WLT)
   </PRE>
<h4><a name="Index_Entries">Index_Entries</a></h4>
<PRE>
 
   rotate a matrix 
 </PRE>
<h4>Link to routine rotmat_c source file <a href='../../../src/cspice/rotmat_c.c'>rotmat_c.c</a> </h4>

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   <pre>Wed Jun  9 13:05:28 2010</pre>

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